Resolved Motion Force Control of Robot Manipulator

DOI10.1109/TSMC.1982.4308816zbMATH Open0506.70004MaRDI QIDQ4743783FDOQ4743783

Authors: Chihaur Wu, Richard P. Paul 

Publication date: 1982

Published in: IEEE Transactions on Systems, Man, and Cybernetics (Search for Journal in Brave)

zbMATH Keywords

joint coordinatesCartesian positions and forcesconvergence of closed-loop robot systemeffects due to masses of linksideal robot with massless linkskinematical and dynamical relations of robotsresolved motion acceleration controlresolved motion position controlresolved motion rate controlRobbins-Monro stochastic approximation method

Mathematics Subject Classification ID

Probabilistic models, generic numerical methods in probability and statistics (65C20) Kinematics of mechanisms and robots (70B15) Control of mechanical systems (70Q05) General systems theory (93A99)

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